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<div class="title">HardwareBridge.h</div>  </div>
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<a href="../../d6/dd5/_hardware_bridge_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#ifndef PROJECT_HARDWAREBRIDGE_H</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#define PROJECT_HARDWAREBRIDGE_H</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="../../d6/dd5/_hardware_bridge_8h.html#accbb358028675c83675d8b34c386268d">   12</a></span>&#160;<span class="preprocessor">#define MAX_STACK_SIZE 16384  // 16KB  of stack</span></div><div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="../../d6/dd5/_hardware_bridge_8h.html#a82dd0a9ae27bdb2c3cdd33bb7804861c">   13</a></span>&#160;<span class="preprocessor">#define TASK_PRIORITY 49      // linux priority, this is not the nice value</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;lcm-cpp.hpp&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d3/d41/_robot_runner_8h.html">RobotRunner.h</a>&quot;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../dc/d87/_periodic_task_8h.html">Utilities/PeriodicTask.h</a>&quot;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &quot;control_parameter_request_lcmt.hpp&quot;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &quot;control_parameter_respones_lcmt.hpp&quot;</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &quot;gamepad_lcmt.hpp&quot;</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="../../d8/dd8/class_hardware_bridge.html">   23</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../d8/dd8/class_hardware_bridge.html">HardwareBridge</a> {</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="../../d8/dd8/class_hardware_bridge.html#a5de3c6c9f311c568c2ba4468e9b73313">   25</a></span>&#160;  <a class="code" href="../../d8/dd8/class_hardware_bridge.html#a5de3c6c9f311c568c2ba4468e9b73313">HardwareBridge</a>(<a class="code" href="../../d4/d6a/class_robot_controller.html">RobotController</a>* robot_ctrl)</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;      : <a class="code" href="../../d8/dd8/class_hardware_bridge.html#aa63048fffaaddf1c55a8f18a785396ec">statusTask</a>(&amp;<a class="code" href="../../d8/dd8/class_hardware_bridge.html#a0389f737fe143e8a4bbf9433c129d149">taskManager</a>, 0.5<a class="code" href="../../dc/dd7/test__casadi_8cpp.html#ae20d7fba59865a21504b65cdb44cbfe5">f</a>),</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;        <a class="code" href="../../d8/dd8/class_hardware_bridge.html#a4407e65acb5e3afc54adee8adeb5627f">_interfaceLCM</a>(<a class="code" href="../../de/df0/utilities_8h.html#aa3945f023f4c554ec5670ac03ff82525">getLcmUrl</a>(255)),</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;        <a class="code" href="../../d8/dd8/class_hardware_bridge.html#a21be7448839aeabc1735129b851bfd42">_visualizationLCM</a>(<a class="code" href="../../de/df0/utilities_8h.html#aa3945f023f4c554ec5670ac03ff82525">getLcmUrl</a>(255)) {</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;          <a class="code" href="../../d8/dd8/class_hardware_bridge.html#ae259e674ae1cd4f3043fdd0236038617">_robotRunner</a> = </div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;            <span class="keyword">new</span> <a class="code" href="../../d9/d42/class_robot_runner.html">RobotRunner</a>(robot_ctrl, &amp;<a class="code" href="../../d8/dd8/class_hardware_bridge.html#a0389f737fe143e8a4bbf9433c129d149">taskManager</a>, 0.001<a class="code" href="../../dc/dd7/test__casadi_8cpp.html#ae20d7fba59865a21504b65cdb44cbfe5">f</a>, <span class="stringliteral">&quot;robot-control&quot;</span>);</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <a class="code" href="../../d8/dd8/class_hardware_bridge.html#ab8487082663e527210d4e1d89387902b">_userControlParameters</a> = robot_ctrl-&gt;<a class="code" href="../../d4/d6a/class_robot_controller.html#a4f978bdc5c1e5c868ca578f1061489e7">getUserControlParameters</a>();</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;        }</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d8/dd8/class_hardware_bridge.html#abbe4b85c2153d1c4f9718b678587cc7b">prefaultStack</a>();</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d8/dd8/class_hardware_bridge.html#a6b4e33274b7f6f1a78987d9b5480f9b5">setupScheduler</a>();</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d8/dd8/class_hardware_bridge.html#a92eb174542c2885280ad77c257d887b8">initError</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* reason, <span class="keywordtype">bool</span> printErrno = <span class="keyword">false</span>);</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d8/dd8/class_hardware_bridge.html#a4a8078bc3b30d7260281598990243262">initCommon</a>();</div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="../../d8/dd8/class_hardware_bridge.html#a038873f692d1128e00c75f2b897ebdbd">   37</a></span>&#160;  <a class="code" href="../../d8/dd8/class_hardware_bridge.html#a038873f692d1128e00c75f2b897ebdbd">~HardwareBridge</a>() { <span class="keyword">delete</span> <a class="code" href="../../d8/dd8/class_hardware_bridge.html#ae259e674ae1cd4f3043fdd0236038617">_robotRunner</a>; }</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d8/dd8/class_hardware_bridge.html#ae6905c9dcc7d67badb4bcd79ef6f62a1">handleGamepadLCM</a>(<span class="keyword">const</span> lcm::ReceiveBuffer* rbuf, <span class="keyword">const</span> std::string&amp; chan,</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;                        <span class="keyword">const</span> gamepad_lcmt* msg);</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d8/dd8/class_hardware_bridge.html#aa6d23f7fccce82cb3a351dd48c4433be">handleInterfaceLCM</a>();</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d8/dd8/class_hardware_bridge.html#aa5bd1ccd29e15e2f0ecb5b3f65795784">handleControlParameter</a>(<span class="keyword">const</span> lcm::ReceiveBuffer* rbuf,</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;                              <span class="keyword">const</span> std::string&amp; chan,</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;                              <span class="keyword">const</span> control_parameter_request_lcmt* msg);</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d8/dd8/class_hardware_bridge.html#a83a317be30bef73635e34beb19a303ac">publishVisualizationLCM</a>();</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d8/dd8/class_hardware_bridge.html#aa3e2460f9609470b32190353d9da2cd9">run_sbus</a>();</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; <span class="keyword">protected</span>:</div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="../../d8/dd8/class_hardware_bridge.html#a0389f737fe143e8a4bbf9433c129d149">   50</a></span>&#160;  <a class="code" href="../../d2/d31/class_periodic_task_manager.html">PeriodicTaskManager</a> <a class="code" href="../../d8/dd8/class_hardware_bridge.html#a0389f737fe143e8a4bbf9433c129d149">taskManager</a>;</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="../../d8/dd8/class_hardware_bridge.html#aa63048fffaaddf1c55a8f18a785396ec">   51</a></span>&#160;  <a class="code" href="../../dc/d6d/class_print_task_status.html">PrintTaskStatus</a> <a class="code" href="../../d8/dd8/class_hardware_bridge.html#aa63048fffaaddf1c55a8f18a785396ec">statusTask</a>;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="../../d8/dd8/class_hardware_bridge.html#a0928b007abfd50e0edc7d38de4bce932">   52</a></span>&#160;  <a class="code" href="../../d4/d51/struct_gamepad_command.html">GamepadCommand</a> <a class="code" href="../../d8/dd8/class_hardware_bridge.html#a0928b007abfd50e0edc7d38de4bce932">_gamepadCommand</a>;</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="../../d8/dd8/class_hardware_bridge.html#ac5270dbb17267e1ac3681ce92215296b">   53</a></span>&#160;  <a class="code" href="../../d3/d60/struct_visualization_data.html">VisualizationData</a> <a class="code" href="../../d8/dd8/class_hardware_bridge.html#ac5270dbb17267e1ac3681ce92215296b">_visualizationData</a>;</div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="../../d8/dd8/class_hardware_bridge.html#af9442d44776906a9a3c9cea911784891">   54</a></span>&#160;  <a class="code" href="../../d0/d6d/struct_cheetah_visualization.html">CheetahVisualization</a> <a class="code" href="../../d8/dd8/class_hardware_bridge.html#af9442d44776906a9a3c9cea911784891">_mainCheetahVisualization</a>;</div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="../../d8/dd8/class_hardware_bridge.html#a4407e65acb5e3afc54adee8adeb5627f">   55</a></span>&#160;  lcm::LCM <a class="code" href="../../d8/dd8/class_hardware_bridge.html#a4407e65acb5e3afc54adee8adeb5627f">_interfaceLCM</a>;</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="../../d8/dd8/class_hardware_bridge.html#a21be7448839aeabc1735129b851bfd42">   56</a></span>&#160;  lcm::LCM <a class="code" href="../../d8/dd8/class_hardware_bridge.html#a21be7448839aeabc1735129b851bfd42">_visualizationLCM</a>;</div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="../../d8/dd8/class_hardware_bridge.html#a4b91d691aac1ad94f0c600e2ec2e084a">   57</a></span>&#160;  control_parameter_respones_lcmt <a class="code" href="../../d8/dd8/class_hardware_bridge.html#a4b91d691aac1ad94f0c600e2ec2e084a">_parameter_response_lcmt</a>;</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="../../d8/dd8/class_hardware_bridge.html#aa700e6321dfd8badb647e198349d3fb7">   58</a></span>&#160;  <a class="code" href="../../d5/d09/struct_spi_data.html">SpiData</a> <a class="code" href="../../d8/dd8/class_hardware_bridge.html#aa700e6321dfd8badb647e198349d3fb7">_spiData</a>;</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="../../d8/dd8/class_hardware_bridge.html#a5ccd0cdd11a61439a08f8f7301f3294f">   59</a></span>&#160;  <a class="code" href="../../d0/ddd/struct_spi_command.html">SpiCommand</a> <a class="code" href="../../d8/dd8/class_hardware_bridge.html#a5ccd0cdd11a61439a08f8f7301f3294f">_spiCommand</a>;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="../../d8/dd8/class_hardware_bridge.html#a80a343c681ff51562b875190a7b2f4dc">   61</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="../../d8/dd8/class_hardware_bridge.html#a80a343c681ff51562b875190a7b2f4dc">_firstRun</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="../../d8/dd8/class_hardware_bridge.html#ae259e674ae1cd4f3043fdd0236038617">   62</a></span>&#160;  <a class="code" href="../../d9/d42/class_robot_runner.html">RobotRunner</a>* <a class="code" href="../../d8/dd8/class_hardware_bridge.html#ae259e674ae1cd4f3043fdd0236038617">_robotRunner</a> = <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="../../d8/dd8/class_hardware_bridge.html#ad52a70b35d6c19a736ea3287d974c66d">   63</a></span>&#160;  <a class="code" href="../../d0/d73/class_robot_control_parameters.html">RobotControlParameters</a> <a class="code" href="../../d8/dd8/class_hardware_bridge.html#ad52a70b35d6c19a736ea3287d974c66d">_robotParams</a>;</div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="../../d8/dd8/class_hardware_bridge.html#ab0027a2f7c8b03445478043806ec230c">   64</a></span>&#160;  <a class="code" href="../../d0/d99/c_types_8h.html#a3f7e2bcbb0b4c338f3c4f6c937cd4234">u64</a> <a class="code" href="../../d8/dd8/class_hardware_bridge.html#ab0027a2f7c8b03445478043806ec230c">_iterations</a> = 0;</div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="../../d8/dd8/class_hardware_bridge.html#aac1696d3ecb97c660ffd9a13771892a9">   65</a></span>&#160;  std::thread <a class="code" href="../../d8/dd8/class_hardware_bridge.html#aac1696d3ecb97c660ffd9a13771892a9">_interfaceLcmThread</a>;</div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="../../d8/dd8/class_hardware_bridge.html#aa78e0f3c26667723c9501963aafa9173">   66</a></span>&#160;  <span class="keyword">volatile</span> <span class="keywordtype">bool</span> <a class="code" href="../../d8/dd8/class_hardware_bridge.html#aa78e0f3c26667723c9501963aafa9173">_interfaceLcmQuit</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="../../d8/dd8/class_hardware_bridge.html#ab8487082663e527210d4e1d89387902b">   67</a></span>&#160;  <a class="code" href="../../d8/d86/class_control_parameters.html">ControlParameters</a>* <a class="code" href="../../d8/dd8/class_hardware_bridge.html#ab8487082663e527210d4e1d89387902b">_userControlParameters</a> = <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="../../d8/dd8/class_hardware_bridge.html#aeb8b07d91413a757e0085ad8ac5fa300">   69</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="../../d8/dd8/class_hardware_bridge.html#aeb8b07d91413a757e0085ad8ac5fa300">_port</a>;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;};</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="../../d0/dc5/class_mini_cheetah_hardware_bridge.html">   72</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../d0/dc5/class_mini_cheetah_hardware_bridge.html">MiniCheetahHardwareBridge</a> : <span class="keyword">public</span> <a class="code" href="../../d8/dd8/class_hardware_bridge.html">HardwareBridge</a> {</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <a class="code" href="../../d0/dc5/class_mini_cheetah_hardware_bridge.html">MiniCheetahHardwareBridge</a>(<a class="code" href="../../d4/d6a/class_robot_controller.html">RobotController</a>* );</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keywordtype">void</span> runSpi();</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordtype">void</span> initHardware();</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordtype">void</span> run();</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordtype">void</span> abort(<span class="keyword">const</span> std::string&amp; reason);</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordtype">void</span> abort(<span class="keyword">const</span> <span class="keywordtype">char</span>* reason);</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="../../d0/dc5/class_mini_cheetah_hardware_bridge.html#aa99804e2d2e2041ab988f34f15e385ae">   82</a></span>&#160;  <a class="code" href="../../df/d06/struct_vector_nav_data.html">VectorNavData</a> <a class="code" href="../../d0/dc5/class_mini_cheetah_hardware_bridge.html#aa99804e2d2e2041ab988f34f15e385ae">_vectorNavData</a>;</div><div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="../../d0/dc5/class_mini_cheetah_hardware_bridge.html#acfed6143e7864dcb64345e22223455c1">   83</a></span>&#160;  lcm::LCM <a class="code" href="../../d0/dc5/class_mini_cheetah_hardware_bridge.html#acfed6143e7864dcb64345e22223455c1">_spiLcm</a>;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;};</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="preprocessor">#endif  // PROJECT_HARDWAREBRIDGE_H</span></div><div class="ttc" id="class_hardware_bridge_html_aa6d23f7fccce82cb3a351dd48c4433be"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#aa6d23f7fccce82cb3a351dd48c4433be">HardwareBridge::handleInterfaceLCM</a></div><div class="ttdeci">void handleInterfaceLCM()</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/da0/_hardware_bridge_8cpp_source.html#l00048">HardwareBridge.cpp:48</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_a4b91d691aac1ad94f0c600e2ec2e084a"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#a4b91d691aac1ad94f0c600e2ec2e084a">HardwareBridge::_parameter_response_lcmt</a></div><div class="ttdeci">control_parameter_respones_lcmt _parameter_response_lcmt</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00057">HardwareBridge.h:57</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_ab8487082663e527210d4e1d89387902b"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#ab8487082663e527210d4e1d89387902b">HardwareBridge::_userControlParameters</a></div><div class="ttdeci">ControlParameters * _userControlParameters</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00067">HardwareBridge.h:67</a></div></div>
<div class="ttc" id="class_mini_cheetah_hardware_bridge_html_acfed6143e7864dcb64345e22223455c1"><div class="ttname"><a href="../../d0/dc5/class_mini_cheetah_hardware_bridge.html#acfed6143e7864dcb64345e22223455c1">MiniCheetahHardwareBridge::_spiLcm</a></div><div class="ttdeci">lcm::LCM _spiLcm</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00083">HardwareBridge.h:83</a></div></div>
<div class="ttc" id="struct_cheetah_visualization_html"><div class="ttname"><a href="../../d0/d6d/struct_cheetah_visualization.html">CheetahVisualization</a></div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00037">VisualizationData.h:37</a></div></div>
<div class="ttc" id="class_robot_runner_html"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html">RobotRunner</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00030">RobotRunner.h:30</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_a83a317be30bef73635e34beb19a303ac"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#a83a317be30bef73635e34beb19a303ac">HardwareBridge::publishVisualizationLCM</a></div><div class="ttdeci">void publishVisualizationLCM()</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/da0/_hardware_bridge_8cpp_source.html#l00305">HardwareBridge.cpp:305</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_a0928b007abfd50e0edc7d38de4bce932"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#a0928b007abfd50e0edc7d38de4bce932">HardwareBridge::_gamepadCommand</a></div><div class="ttdeci">GamepadCommand _gamepadCommand</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00052">HardwareBridge.h:52</a></div></div>
<div class="ttc" id="struct_spi_command_html"><div class="ttname"><a href="../../d0/ddd/struct_spi_command.html">SpiCommand</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00010">SpineBoard.h:10</a></div></div>
<div class="ttc" id="class_control_parameters_html"><div class="ttname"><a href="../../d8/d86/class_control_parameters.html">ControlParameters</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d2/d01/_control_parameters_8h_source.html#l00391">ControlParameters.h:391</a></div></div>
<div class="ttc" id="class_robot_controller_html"><div class="ttname"><a href="../../d4/d6a/class_robot_controller.html">RobotController</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dff/_robot_controller_8h_source.html#l00010">RobotController.h:10</a></div></div>
<div class="ttc" id="_periodic_task_8h_html"><div class="ttname"><a href="../../dc/d87/_periodic_task_8h.html">PeriodicTask.h</a></div><div class="ttdoc">Implementation of a periodic function running in a separate thread. Periodic tasks have a task manage...</div></div>
<div class="ttc" id="class_hardware_bridge_html_aa78e0f3c26667723c9501963aafa9173"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#aa78e0f3c26667723c9501963aafa9173">HardwareBridge::_interfaceLcmQuit</a></div><div class="ttdeci">volatile bool _interfaceLcmQuit</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00066">HardwareBridge.h:66</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_a80a343c681ff51562b875190a7b2f4dc"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#a80a343c681ff51562b875190a7b2f4dc">HardwareBridge::_firstRun</a></div><div class="ttdeci">bool _firstRun</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00061">HardwareBridge.h:61</a></div></div>
<div class="ttc" id="class_robot_control_parameters_html"><div class="ttname"><a href="../../d0/d73/class_robot_control_parameters.html">RobotControlParameters</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d53/_robot_parameters_8h_source.html#l00012">RobotParameters.h:12</a></div></div>
<div class="ttc" id="class_mini_cheetah_hardware_bridge_html"><div class="ttname"><a href="../../d0/dc5/class_mini_cheetah_hardware_bridge.html">MiniCheetahHardwareBridge</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00072">HardwareBridge.h:72</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_a4407e65acb5e3afc54adee8adeb5627f"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#a4407e65acb5e3afc54adee8adeb5627f">HardwareBridge::_interfaceLCM</a></div><div class="ttdeci">lcm::LCM _interfaceLCM</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00055">HardwareBridge.h:55</a></div></div>
<div class="ttc" id="struct_visualization_data_html"><div class="ttname"><a href="../../d3/d60/struct_visualization_data.html">VisualizationData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00060">VisualizationData.h:60</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_a5ccd0cdd11a61439a08f8f7301f3294f"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#a5ccd0cdd11a61439a08f8f7301f3294f">HardwareBridge::_spiCommand</a></div><div class="ttdeci">SpiCommand _spiCommand</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00059">HardwareBridge.h:59</a></div></div>
<div class="ttc" id="_robot_runner_8h_html"><div class="ttname"><a href="../../d3/d41/_robot_runner_8h.html">RobotRunner.h</a></div><div class="ttdoc">Common framework for running robot controllers. This code is a common interface between control code ...</div></div>
<div class="ttc" id="class_hardware_bridge_html_ac5270dbb17267e1ac3681ce92215296b"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#ac5270dbb17267e1ac3681ce92215296b">HardwareBridge::_visualizationData</a></div><div class="ttdeci">VisualizationData _visualizationData</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00053">HardwareBridge.h:53</a></div></div>
<div class="ttc" id="struct_gamepad_command_html"><div class="ttname"><a href="../../d4/d51/struct_gamepad_command.html">GamepadCommand</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d24/_gamepad_command_8h_source.html#l00012">GamepadCommand.h:12</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_aa5bd1ccd29e15e2f0ecb5b3f65795784"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#aa5bd1ccd29e15e2f0ecb5b3f65795784">HardwareBridge::handleControlParameter</a></div><div class="ttdeci">void handleControlParameter(const lcm::ReceiveBuffer *rbuf, const std::string &amp;chan, const control_parameter_request_lcmt *msg)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/da0/_hardware_bridge_8cpp_source.html#l00092">HardwareBridge.cpp:92</a></div></div>
<div class="ttc" id="utilities_8h_html_aa3945f023f4c554ec5670ac03ff82525"><div class="ttname"><a href="../../de/df0/utilities_8h.html#aa3945f023f4c554ec5670ac03ff82525">getLcmUrl</a></div><div class="ttdeci">std::string getLcmUrl(s64 ttl)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/da5/utilities_8cpp_source.html#l00032">utilities.cpp:32</a></div></div>
<div class="ttc" id="struct_vector_nav_data_html"><div class="ttname"><a href="../../df/d06/struct_vector_nav_data.html">VectorNavData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/df2/_i_m_u_types_8h_source.html#l00013">IMUTypes.h:13</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_ab0027a2f7c8b03445478043806ec230c"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#ab0027a2f7c8b03445478043806ec230c">HardwareBridge::_iterations</a></div><div class="ttdeci">u64 _iterations</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00064">HardwareBridge.h:64</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_a21be7448839aeabc1735129b851bfd42"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#a21be7448839aeabc1735129b851bfd42">HardwareBridge::_visualizationLCM</a></div><div class="ttdeci">lcm::LCM _visualizationLCM</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00056">HardwareBridge.h:56</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_aeb8b07d91413a757e0085ad8ac5fa300"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#aeb8b07d91413a757e0085ad8ac5fa300">HardwareBridge::_port</a></div><div class="ttdeci">int _port</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00069">HardwareBridge.h:69</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_a4a8078bc3b30d7260281598990243262"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#a4a8078bc3b30d7260281598990243262">HardwareBridge::initCommon</a></div><div class="ttdeci">void initCommon()</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/da0/_hardware_bridge_8cpp_source.html#l00030">HardwareBridge.cpp:30</a></div></div>
<div class="ttc" id="class_robot_controller_html_a4f978bdc5c1e5c868ca578f1061489e7"><div class="ttname"><a href="../../d4/d6a/class_robot_controller.html#a4f978bdc5c1e5c868ca578f1061489e7">RobotController::getUserControlParameters</a></div><div class="ttdeci">virtual ControlParameters * getUserControlParameters()=0</div></div>
<div class="ttc" id="class_hardware_bridge_html_a5de3c6c9f311c568c2ba4468e9b73313"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#a5de3c6c9f311c568c2ba4468e9b73313">HardwareBridge::HardwareBridge</a></div><div class="ttdeci">HardwareBridge(RobotController *robot_ctrl)</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00025">HardwareBridge.h:25</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_a92eb174542c2885280ad77c257d887b8"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#a92eb174542c2885280ad77c257d887b8">HardwareBridge::initError</a></div><div class="ttdeci">void initError(const char *reason, bool printErrno=false)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/da0/_hardware_bridge_8cpp_source.html#l00017">HardwareBridge.cpp:17</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_aac1696d3ecb97c660ffd9a13771892a9"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#aac1696d3ecb97c660ffd9a13771892a9">HardwareBridge::_interfaceLcmThread</a></div><div class="ttdeci">std::thread _interfaceLcmThread</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00065">HardwareBridge.h:65</a></div></div>
<div class="ttc" id="c_types_8h_html_a3f7e2bcbb0b4c338f3c4f6c937cd4234"><div class="ttname"><a href="../../d0/d99/c_types_8h.html#a3f7e2bcbb0b4c338f3c4f6c937cd4234">u64</a></div><div class="ttdeci">uint64_t u64</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d99/c_types_8h_source.html#l00017">cTypes.h:17</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_aa700e6321dfd8badb647e198349d3fb7"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#aa700e6321dfd8badb647e198349d3fb7">HardwareBridge::_spiData</a></div><div class="ttdeci">SpiData _spiData</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00058">HardwareBridge.h:58</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_a038873f692d1128e00c75f2b897ebdbd"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#a038873f692d1128e00c75f2b897ebdbd">HardwareBridge::~HardwareBridge</a></div><div class="ttdeci">~HardwareBridge()</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00037">HardwareBridge.h:37</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_aa63048fffaaddf1c55a8f18a785396ec"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#aa63048fffaaddf1c55a8f18a785396ec">HardwareBridge::statusTask</a></div><div class="ttdeci">PrintTaskStatus statusTask</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00051">HardwareBridge.h:51</a></div></div>
<div class="ttc" id="class_mini_cheetah_hardware_bridge_html_aa99804e2d2e2041ab988f34f15e385ae"><div class="ttname"><a href="../../d0/dc5/class_mini_cheetah_hardware_bridge.html#aa99804e2d2e2041ab988f34f15e385ae">MiniCheetahHardwareBridge::_vectorNavData</a></div><div class="ttdeci">VectorNavData _vectorNavData</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00082">HardwareBridge.h:82</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_a0389f737fe143e8a4bbf9433c129d149"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#a0389f737fe143e8a4bbf9433c129d149">HardwareBridge::taskManager</a></div><div class="ttdeci">PeriodicTaskManager taskManager</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00050">HardwareBridge.h:50</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_ad52a70b35d6c19a736ea3287d974c66d"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#ad52a70b35d6c19a736ea3287d974c66d">HardwareBridge::_robotParams</a></div><div class="ttdeci">RobotControlParameters _robotParams</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00063">HardwareBridge.h:63</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_ae6905c9dcc7d67badb4bcd79ef6f62a1"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#ae6905c9dcc7d67badb4bcd79ef6f62a1">HardwareBridge::handleGamepadLCM</a></div><div class="ttdeci">void handleGamepadLCM(const lcm::ReceiveBuffer *rbuf, const std::string &amp;chan, const gamepad_lcmt *msg)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/da0/_hardware_bridge_8cpp_source.html#l00084">HardwareBridge.cpp:84</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_ae259e674ae1cd4f3043fdd0236038617"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#ae259e674ae1cd4f3043fdd0236038617">HardwareBridge::_robotRunner</a></div><div class="ttdeci">RobotRunner * _robotRunner</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00062">HardwareBridge.h:62</a></div></div>
<div class="ttc" id="class_hardware_bridge_html"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html">HardwareBridge</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00023">HardwareBridge.h:23</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_af9442d44776906a9a3c9cea911784891"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#af9442d44776906a9a3c9cea911784891">HardwareBridge::_mainCheetahVisualization</a></div><div class="ttdeci">CheetahVisualization _mainCheetahVisualization</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dd5/_hardware_bridge_8h_source.html#l00054">HardwareBridge.h:54</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_aa3e2460f9609470b32190353d9da2cd9"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#aa3e2460f9609470b32190353d9da2cd9">HardwareBridge::run_sbus</a></div><div class="ttdeci">void run_sbus()</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/da0/_hardware_bridge_8cpp_source.html#l00266">HardwareBridge.cpp:266</a></div></div>
<div class="ttc" id="class_periodic_task_manager_html"><div class="ttname"><a href="../../d2/d31/class_periodic_task_manager.html">PeriodicTaskManager</a></div><div class="ttdef"><b>Definition:</b> <a href="../../dc/d87/_periodic_task_8h_source.html#l00057">PeriodicTask.h:57</a></div></div>
<div class="ttc" id="class_print_task_status_html"><div class="ttname"><a href="../../dc/d6d/class_print_task_status.html">PrintTaskStatus</a></div><div class="ttdef"><b>Definition:</b> <a href="../../dc/d87/_periodic_task_8h_source.html#l00091">PeriodicTask.h:91</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_abbe4b85c2153d1c4f9718b678587cc7b"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#abbe4b85c2153d1c4f9718b678587cc7b">HardwareBridge::prefaultStack</a></div><div class="ttdeci">void prefaultStack()</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/da0/_hardware_bridge_8cpp_source.html#l00060">HardwareBridge.cpp:60</a></div></div>
<div class="ttc" id="struct_spi_data_html"><div class="ttname"><a href="../../d5/d09/struct_spi_data.html">SpiData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00034">SpineBoard.h:34</a></div></div>
<div class="ttc" id="class_hardware_bridge_html_a6b4e33274b7f6f1a78987d9b5480f9b5"><div class="ttname"><a href="../../d8/dd8/class_hardware_bridge.html#a6b4e33274b7f6f1a78987d9b5480f9b5">HardwareBridge::setupScheduler</a></div><div class="ttdeci">void setupScheduler()</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/da0/_hardware_bridge_8cpp_source.html#l00075">HardwareBridge.cpp:75</a></div></div>
<div class="ttc" id="test__casadi_8cpp_html_ae20d7fba59865a21504b65cdb44cbfe5"><div class="ttname"><a href="../../dc/dd7/test__casadi_8cpp.html#ae20d7fba59865a21504b65cdb44cbfe5">f</a></div><div class="ttdeci">MX f(const MX &amp;x, const MX &amp;u)</div><div class="ttdef"><b>Definition:</b> <a href="../../dc/dd7/test__casadi_8cpp_source.html#l00202">test_casadi.cpp:202</a></div></div>
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